nash169 / quad-arena

Quadcopter simulation environment for control strategies developing

Quad Arena

Quadcopter simulation environment for control strategies developing

Authors/Maintainers

• Bernardo Fichera ([email protected])
• Mattia Andolfatto ([email protected])

Dependencies

This library depends on eigen for the linear algebra. The latest git version is required.

git clone https://gitlab.com/libeigen/eigen.git ([email protected]:libeigen/eigen.git)
cd eigen && mkdir build && cmake .. && (sudo) make install

Other (optional) dependencies for improving performances required by Eigen are:

• Linear Algebra -> LAPACK, BLAS, MKL
• Multi-threading -> OPENMP, TBB

For dynamics integration the package uses integrator-lib.

git clone --recursive https://github.com/nash169/integrator-lib.git ([email protected]:nash169/integrator-lib.git)
cd /path/to/integrator-lib
waf (./waf) configure build install

Control is handle through control-lib.

git clone --recursive https://github.com/nash169/control-lib.git ([email protected]:nash169/control-lib.git)
cd /path/to/control-lib
waf (./waf) configure build install

If you want to build with the graphics magnum-dynamics is necessary.

git clone --recursive https://github.com/nash169/magnum-dynamics.git ([email protected]:nash169/magnum-dynamics.git)
cd /path/to/magnum-dynamics
waf (./waf) configure build install

For specific compiling configuration refer to the library documentation.

Installation

Clone the repository including the submodules

git clone --recursive https://github.com/nash169/quad-arena.git ([email protected]:nash169/quad-arena.git)

quad-arena relies on WAF compilation tool. Arch provides an updated version of WAF exec in the standard repo

sudo pacman -S waf

For other distros it is better to download the latest version from the official website and move the executable in the library repo

wget 'https://waf.io/waf-2.0.19'
mv waf-2.0.19waf-2.0.19 waf && mv waf /path/to/quad-arena
cd /path/to/kernel-lib
chmod +x waf

Compile and install using waf commands

waf (./waf) configure build

or

waf (./waf) configure && waf (./waf)

Install the library (optional)

(sudo) waf (./waf) install

If you want to make clean installation

(sudo) waf (./waf) distclean configure build install

Compilation options

It is highly recommended to compile with AVX support

waf (./waf) configure --optional-flags

Enable OPENMP multi-threading

waf (./waf) configure --multi-threading

Enable LAPACK

waf (./waf) configure --with-lapack

Enable BLAS

waf (./waf) configure --with-blas

Enable MKL

waf (./waf) configure --with-mkl

Set MKL multi-threading

waf (./waf) configure --mkl-threading=<sequential|openmp|tbb>

By default MKL uses sequential option. If you activate openmp this includes --multi-threading that will be deactivated in this case. In addition if you choose OpenMP multi-threading it is possible select between the GNU (default), gnu, or Intel, intel, version through --mkl-openmp option. Suggested configuration

waf (./waf) configure --optional-flags --with-lapack --with-blas --with-mkl --mkl-threading=tbb

In order to set the desired compiler define the environment variable CXX=<g++,clang++,icpc> (gnu, clang and intel compiler respectively).

Examples

./build/src/examples/take_off_hovering